At the moment, OpenAPI with YAML is the only way to go but you can't easily split the spec into separate files as you would do any program with packages, modules and what not.
There are third party tools[0] which are archived and the libraries they depend upon are up for adoption.
In that space, either you can use something like cue language 1] or something like TypeSpec which is purpose built for this so yet, this seems like a great tool although I have not tried it yet myself.
[0]. https://github.com/APIDevTools/swagger-cli
[1]. https://cuelang.org/
EDIT: formating